Self-walking working equipment
By installing an electric shock device around the protected parts of the lawnmower, and applying electric stimulation to the snail using a conductive layer, the problems of decreased equipment positioning accuracy and corrosion of charging electrodes caused by snail climbing are solved, thus achieving self-protection and improved reliability of the equipment.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- SHENZHEN MAMMOTION INNOVATION CO LTD
- Filing Date
- 2025-04-11
- Publication Date
- 2026-04-17
AI Technical Summary
Existing lawnmowers lack protective designs against small creatures such as snails, which can climb onto the machine's surface and block the vision module or lidar, affecting the equipment's positioning accuracy and safety, and potentially corroding the charging electrodes.
An electric shock device, including a conductive layer, is installed around the protected parts of the lawnmower to apply electrical stimulation when a snail comes into contact with it, thereby changing its crawling direction and preventing it from approaching the sensitive parts.
It effectively prevents snails from climbing, protects the vision module and charging electrode, and improves the positioning accuracy and safety reliability of the device.
Smart Images
Figure CN224125091U_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of lawn mowing equipment technology, specifically to a self-propelled working device. Background Technology
[0002] Currently, most lawnmower products lack protective designs against small creatures such as snails. These creatures can climb onto the machine's surface during operation, easily obstructing the vision module or lidar, thus affecting the lawnmower's normal operation. If these small creatures climb onto the charging contacts, they may also corrode and damage them, affecting the lawnmower's normal operating performance and safety reliability. Utility Model Content
[0003] In view of this, this application provides a self-propelled working device, wherein the conductive layer of the self-propelled working device is used to apply electrical stimulation to the subject to be avoided when it comes into contact with the conductive layer, so as to drive away the subject to be avoided and to protect the component to be protected.
[0004] This application provides a self-propelled working device, comprising: a device body, a walking device, a working device, and an electric shock device. At least one component to be protected is disposed on the surface of the device body. The walking device is located at the bottom of the device body and is used to drive the self-propelled working device to walk. The working device is disposed on the device body and is used to perform a preset task. The electric shock device is disposed around at least a portion of the periphery of the component to be protected. The electric shock device includes a conductive layer, with its two ends electrically connected to the positive and negative terminals of a module power supply, respectively, for applying electrical stimulation to the component to be protected when it comes into contact with the conductive layer.
[0005] In some embodiments, the self-propelled working device further includes a humidity sensor and a controller. The humidity sensor is installed on the main body of the device and is used to detect humidity information. The controller is electrically connected to the humidity sensor and the electric shock device respectively, and is used to receive humidity information and control the opening and closing of the electric shock device.
[0006] In some embodiments, the electric shock device is disposed around the top and / or side of the device body.
[0007] In some embodiments, the at least one component to be protected includes a sensor module, and the electric shock device is disposed around the periphery of the sensor module.
[0008] In some embodiments, the sensor module is located at the top of the device body and / or the tail of the device body.
[0009] In some embodiments, the at least one component to be protected includes a charging assembly, and the electric shock device is disposed around the periphery of the charging assembly.
[0010] In some embodiments, the charging assembly is disposed at the tail and / or side of the device body.
[0011] In some embodiments, the conductive layer is arranged in a ring and located around the periphery of the component to be protected, thereby forming a protective area to prevent the subject to be repelled from entering.
[0012] In some embodiments, the electric shock device is detachably connected to the main body of the device.
[0013] In some embodiments, the surface of the device body is provided with a receiving groove, and the electric shock device is at least partially embedded in the receiving groove.
[0014] In this application, the power source supplies power to the conductive layer of the electric shock device, ensuring that the conductive layer remains conductive when its opposite ends are connected to the positive and negative terminals of the module power source, respectively. When the object to be avoided comes into contact with the conductive layer, it crawls to the surface of the conductive layer and forms a parallel circuit with it, generating a current that applies electrical stimulation. The object experiences discomfort and changes its crawling direction, moving away from the protected component, thus preventing it from approaching the protected component. This provides the self-propelled working device with better avoidance and self-protection capabilities, improving its reliability. Attached Figure Description
[0015] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the implementation will be briefly introduced below. Obviously, the drawings described below are some implementations of this application. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.
[0016] Figure 1 This is a schematic diagram of the structure of the self-propelled working device according to the first embodiment of this application;
[0017] Figure 2 This is a circuit block diagram of a self-propelled working device according to an embodiment of this application;
[0018] Figure 3 This is a schematic diagram of the structure of the self-propelled working device provided in the second embodiment of this application;
[0019] Figure 4 This is a rear view structural diagram of a self-propelled working device according to an embodiment of this application;
[0020] Figure 5 A perspective view of the front end of a self-propelled working device provided in an embodiment of this application;
[0021] Figure 6 A schematic diagram showing an electric shock device 150 of a self-propelled working device provided in an embodiment of this application, located on the side of the main body of the device near the bottom;
[0022] Figure 7 A schematic diagram showing an electric shock device 150 of a self-propelled working device provided in an embodiment of this application, located on the side of the device body near the top;
[0023] Figure 8 This is an exploded structural diagram of a self-propelled working device according to an embodiment of this application;
[0024] Figure 9 This is a partial structural schematic diagram of the self-propelled working device according to the first embodiment of this application;
[0025] Figure 10 This is a partial structural schematic diagram of the self-propelled working device according to the second embodiment of this application.
[0026] Explanation of reference numerals in the attached figures:
[0027] 100-Self-propelled working device, 110-Equipment body, 111-Accommodation slot, 120-Walking device, 21-Front walking wheel assembly, 211-Front rotating wheel, 212-First connecting structure, 22-Rear walking wheel assembly, 221-Rear rotating wheel, 222-Second connecting structure, 121-Drive wheel, 130-Working device, 140-Power supply, 150-Electric shock device, 160-Humidity sensor, 170-Controller, 180-Sensor module, 190-Charging component, 210-First magnetic suction component, 220-Second magnetic suction component, 230-Adhesive component. Detailed Implementation
[0028] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.
[0029] The terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or apparatuses.
[0030] In this document, references to "embodiment" or "implementation" mean that a particular feature, structure, or characteristic described in connection with an embodiment or implementation may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.
[0031] Currently, most lawnmower products lack protective designs against small creatures such as snails. These creatures can climb onto the machine's surface during operation, easily obstructing the vision module or lidar, affecting the lawnmower's normal operation, reducing positioning accuracy, weakening environmental awareness, and in severe cases, causing obstacle avoidance failure, thus impacting the lawnmower's normal operation and safety. If these small creatures climb onto the charging contacts, they may also produce secretions that corrode the contacts, damaging them and affecting the lawnmower's normal performance and safety.
[0032] Please see Figures 1 to 3 This application provides a self-propelled working device 100, which includes: a device body 110, and at least one component to be protected is provided on the surface of the device body 110.
[0033] Optionally, the self-propelled working device 100 may be, but is not limited to, a lawnmower, rotary tiller, seeder, or other similar equipment.
[0034] Optionally, the component to be protected may be, but is not limited to, a vision module, ultrasonic radar, lidar, charging port, etc.
[0035] Understandably, in the terminology of this application, "at least one" means one or more, and may be, but is not limited to, one, two, three, four or five, etc.
[0036] Understandably, at least one component to be protected is disposed on the surface of the device body 110, and the surface of the device body 110 includes, but is not limited to, the top surface, side surface, and bottom surface of the device body 110. In other words, the component to be protected is disposed on the top surface and / or side surface and / or bottom surface of the device body 110.
[0037] In addition, the self-propelled working device 100 also includes a walking device 120 and a working device 130. The walking device 120 is located at the bottom of the device body 110 and is used to drive the self-propelled working device 100 to walk. The working device 130 is located on the device body 110 and is used to perform preset tasks.
[0038] Optionally, the working device 130 may be, but is not limited to, a mowing device, a rotary tillage device, a seeding device, etc. Correspondingly, the preset task may be, but is not limited to, a mowing task, a rotary tillage task, or a seeding task. Here, the type of the working device 130 and the type of the preset task are not limited.
[0039] In this embodiment, the walking device 120 is used to drive the self-propelled working device 100 to move. In other words, the walking device 120 drives the main body of the device 110 to move, and drives other devices such as the working device 130 supported on the main body of the device 110 to move, so as to perform a preset task.
[0040] In addition, please see Figure 2 The self-propelled working device 100 further includes an electric shock device 150, which is disposed around at least a portion of the periphery of the component to be protected. The electric shock device 150 includes a conductive layer, and the two ends of the conductive layer are electrically connected to the positive and negative terminals of the power supply 140, respectively, for applying electric stimulation to the component to be protected when it comes into contact with the conductive layer.
[0041] Understandably, when the electric shock device 150 is disposed on the surface of the device body 110 and on the periphery of at least one component to be protected, the electric shock device 150 forms a protective area, and the at least one component to be protected is located within the protective area.
[0042] The electric shock device 150 is disposed at least partially on the periphery of the component to be protected, so as to form a protective area on the periphery of the component to be protected, so that the subject to be avoided stops moving or changes its direction of movement when it comes into contact with the electric shock device 150.
[0043] For example, the electric shock device 150 is located on at least one of the front, left, rear, and right sides of the component to be protected. Specifically, the electric shock device 150 may be ring-shaped; or, the electric shock device 150 may be an open shape such as a straight line, an arc, a semi-ring, a bent line, a dot matrix, or a linear array.
[0044] For example, the electric shock device 150 may be ring-shaped, with the ring-shaped electric shock device 150 surrounding the periphery of the component to be protected.
[0045] Optionally, the electric shock device 150 may be in an open shape such as a straight line, an arc, a semi-circle, a bent line, a dot matrix, or a linear matrix.
[0046] For example, an electric shock device 150 is semi-circular, and the semi-circular electric shock device 150 is disposed around the periphery of the part to be protected, for example, on a path where snails frequently crawl on the part to be protected.
[0047] For another example, two electric shock devices 150 are in a semi-circular shape, and the two semi-circular electric shock devices 150 are combined to form a ring, which is arranged around the periphery of the component to be protected.
[0048] For another example, multiple electric shock devices 150 are arc-shaped, and the multiple arc-shaped electric shock devices 150 are combined to form a ring, surrounding the periphery of the component to be protected.
[0049] For ease of explanation, this embodiment is described below as having the electric shock device 150 arranged in a ring around the part to be protected. Of course, this embodiment can be used as a reference when the electric shock device 150 has other open structures.
[0050] Optionally, in some embodiments, the power supply 140 is a module power supply of the electric shock device 150, and the module power supply supplies power to the conductive layer; in other embodiments, the power supply 140 is an equipment power supply of the self-propelled working device 100, and the equipment power supply supplies power not only to the conductive layer, but also to at least one of the walking device 120 and the working device 130.
[0051] Optionally, the number of the electric shock devices 150 may be one or more, and in the terminology of this application, "a plurality of" means two or more.
[0052] Optionally, the subject to be repelled may be, but is not limited to, snails, slugs, etc.
[0053] Understandably, in the terminology of this application, applying electrical stimulation to the subject to be avoided when it comes into contact with the conductive layer can mean that, when the conductive layer is in a conductive state, the subject to be avoided and the conductive layer are connected in parallel, and the current will pass through the subject to be avoided to deliver an electric shock to the subject to be avoided.
[0054] Understandably, in this application, the conductive layer provides electrical stimulation to the subject to be avoided. The intensity of the electrical stimulation is such that the subject to be avoided experiences discomfort, causing it to adjust its direction of travel, but not to the point of killing it.
[0055] Optionally, the power supply 140 may be detachably disposed on the main body 110 of the device.
[0056] In this embodiment, the power supply 140 supplies power to the conductive layer of the electric shock device 150, so that the conductive layer remains conductive when its opposite ends are connected to the positive and negative terminals of the power supply 140, respectively. When the object to be avoided comes into contact with the conductive layer, it crawls to the surface of the conductive layer and forms a parallel circuit with it, thereby generating a current that applies electrical stimulation to the object. The object experiences discomfort and changes its crawling direction, moving away from the protected component, thus preventing it from approaching the protected component and ultimately reducing the probability of damage. This gives the self-propelled working device 100 better avoidance and self-protection functions, improving its reliability.
[0057] Understandably, the two ends of the conductive layer are electrically connected to the positive and negative terminals of the module power supply, respectively. The conductive layer may include a layer body (not shown), a positive terminal wire (not shown), and a negative terminal wire (not shown). The opposite ends of the positive terminal wire of the conductive layer are connected to the layer body and the positive terminal of the module power supply, respectively. The opposite ends of the negative terminal wire of the conductive layer are connected to the layer body and the negative terminal of the module power supply, respectively. The layer body is used to apply electrical stimulation to the subject to be avoided when it comes into contact with the subject to be avoided.
[0058] In some embodiments, the electric shock device 150 is disposed on the surface of the device body 110 such that when the subject to be avoided crawls on the surface of the device body 110 and comes into contact with the conductive layer, the conductive layer and the subject to be avoided can form a parallel circuit and apply electrical stimulation to the subject to be avoided, so that the subject to be avoided moves in a direction away from the component to be protected.
[0059] Specifically, in some embodiments, the electric shock device 150 is disposed on the surface of the device body 110 and on the periphery of at least one component to be protected, so as to prevent the component to be avoided from moving through the electric shock device 150 toward the component to be protected.
[0060] Optionally, when the electric shock device 150 is disposed on the surface of the device body 110 and around at least one component to be protected, in some embodiments, the number of the electric shock device 150 is one, and the electric shock device 150 can be disposed around at least one component to be protected to protect the component from damage or reduced working efficiency, thereby giving the self-propelled working device 100 better avoidance and self-protection functions, and improving the reliability of the self-propelled working device 100. In other embodiments, the number of the electric shock device 150 is multiple, and each electric shock device 150 can be disposed around one or more of the at least one component to be protected to protect the component, thereby giving the self-propelled working device 100 better avoidance and self-protection functions, and improving the reliability of the self-propelled working device 100.
[0061] Specifically, in some other embodiments, the electric shock device 150 is disposed on the surface of the device body 110 and surrounds a certain component of the self-propelled working device 100, so that when the subject to be avoided moves from the certain component to the surface of the device body 110, the subject to be avoided and the conductive layer form a parallel circuit, and the conductive layer applies electrical stimulation to the subject to be avoided to prevent the subject to be avoided from continuing to move toward the component to be protected, thereby achieving protection of the component to be protected.
[0062] Optionally, the module power source is a solar cell, which is used to convert solar energy into electrical energy. The solar cell can also store electrical energy and is used to provide power to the conductive layer.
[0063] In this embodiment, the module power source is a solar cell, which converts solar energy into electrical energy. The solar cell can also store electrical energy, thus saving energy. The solar cell provides power to the conductive layer, making the conductive layer conductive, so that electrical stimulation can be applied to the subject to be repelled when it comes into contact with the conductive layer.
[0064] In some embodiments, the self-propelled working device 100 further includes a humidity sensor 160, which is installed on the device body 110 and used to detect humidity information.
[0065] In this embodiment, the self-propelled working device 100 includes a humidity sensor 160, which is installed on the device body 110 and used to detect humidity information to detect the working environment of the self-propelled working device 100. Specifically, the objects to be avoided, such as snails, often appear in humid environments such as rainy days. The humidity sensor 160 can be used to obtain the humidity of the environment in which the self-propelled working device 100 is located to determine the probability of the appearance of the objects to be avoided, such as snails.
[0066] In addition, the self-propelled working device 100 also includes a controller 170, which is electrically connected to the humidity sensor 160 and the electric shock device 150 respectively, and is used to receive humidity information and control the opening and closing of the electric shock device 150.
[0067] In this embodiment, the controller 170 is electrically connected to the humidity sensor 160 and the electric shock device 150. The controller 170 receives humidity information detected by the humidity sensor 160 to determine the probability of the subject to be avoided appearing in the environment where the self-propelled working device 100 is located. If the humidity sensor 160 detects that the humidity in the environment where the self-propelled working device 100 is located is high, it can be determined that the probability of the subject to be avoided appearing is high, thereby controlling the activation of the electric shock device 150 so that the conductive layer is always in a conductive state, used to apply electrical stimulation to the subject to be avoided when it comes into contact with the conductive layer, thereby repelling the subject and protecting the component to be protected. Conversely, if the humidity sensor 160 detects that the humidity in the environment where the self-propelled working device 100 is located is low, it can be determined that the probability of the subject to be avoided appearing is low, thereby controlling the deactivation of the electric shock device 150 to avoid the conductive layer consuming too much electrical energy, which is beneficial to improving the performance of the self-propelled working device 100.
[0068] Optionally, please also see Figure 4 The walking device 120 includes a front walking wheel assembly 21 and a rear walking wheel assembly 22. The front walking wheel assembly 21 includes, but is not limited to, a drive wheel 121 located at the front end of the bottom of the device body 110; or, two front rotating wheels 211 located on both sides of the device body 110 at the front end, the two front rotating wheels being connected to the device body 110 via a first connecting structure 212. The rear walking wheel assembly 22 includes, but is not limited to, two rear rotating wheels 221 located on both sides of the device body 110 at the rear end, the two rear rotating wheels 221 being connected to the device body 110 via a second connecting structure 222.
[0069] The following description, in conjunction with the accompanying drawings, provides a specific example illustrating the position of the electric shock device 150 on the main body 110 of the device.
[0070] For ease of explanation, the portion of the self-propelled working device 100 facing the ground is defined as the bottom, and the portion facing away from the ground is defined as the top. The self-propelled working device 100 also has a side portion connecting the top and bottom, which can be referred to as the circumferential side surface of the self-propelled working device 100. In the circumferential side surface of the self-propelled working device 100, one end in the forward direction is defined as the front end, and the other end in the backward direction is defined as the rear end. The self-propelled working device 100 also has two side surfaces connecting the top and bottom, which are referred to as the first side surface and the second side surface, respectively.
[0071] When the self-propelled work equipment 100 is located on the ground, the ways in which the subject to be driven can climb onto the self-propelled work equipment 100 include: Please refer to Figure 3 Path 1 - The subject to be driven climbs from the drive wheel 121 (e.g., caster wheel) and the bottom of the self-propelled working device 100 to a position near the bottom of the peripheral side of the self-propelled working device 100 (see...) Figure 3 (As indicated by the arrow in ①); Please refer to Figure 5 Route 2 - The subject to be driven climbs onto rocks, steps, or walls near the self-propelled working equipment 100 to a position near the top of the self-propelled working equipment 100 (see...). Figure 5 (As indicated by arrow ② in the middle); please refer to Figure 5 Path 3 - The subject to be driven climbs to the periphery of the self-propelled working device 100 near the top via the front rotating wheel 211 or the rear rotating wheel 221 (see...). Figure 5 (As indicated by arrow ③ in the middle); please refer to Figure 5 Path 4 - The subject to be driven climbs to the periphery of the self-propelled working device 100 near the top via the first connection structure 212 between the front rotating wheel 211 and the main body 110, or the second connection structure 222 between the rear rotating wheel 221 and the main body 110 (see...). Figure 5 (As indicated by arrow ④ in the middle).
[0072] Please refer to sections 1 to 2. Figure 6 The electric shock device 150 is disposed around the side of the device body 110. In other words, the installation path of the electric shock device 150 is at least located on the side of the device body 110.
[0073] The area formed by the electric shock device 150 surrounding the surface of the main body 110 is a protective area. It should be noted that the side of the main body 110 may be the circumferential side of the aforementioned self-propelled working device 100.
[0074] In the first alternative implementation, please refer to Figure 3The electric shock device 150 is disposed around the peripheral side of the device body 110 and near the bottom. In other words, the path of the electric shock device 150 is at least located on the peripheral side of the device body 110 and near the bottom. For example Figure 6 The position indicated by S1 in the diagram.
[0075] The area formed by the electric shock device 150 surrounding the surface of the main body 110 is a protective area. It should be noted that the peripheral side of the main body 110 can be the peripheral side of the aforementioned self-propelled working device 100; the bottom of the main body 110 can be the bottom of the aforementioned self-propelled working device 100.
[0076] This embodiment effectively avoids a subject that has crawled along path 1 (from the drive wheel 121, the bottom of the self-propelled working device 100 to the bottom of the peripheral side of the self-propelled working device 100) by surrounding the electric shock device 150 on the periphery of the device body 110. When the subject crawls along path 1 to the bottom of the peripheral side of the self-propelled working device 100, it encounters the electric shock device 150. The electric shock device 150 provides electrical stimulation by releasing a small current or by using physical stimulation such as setting spikes to block the subject from continuing to move forward. This causes the subject to change its direction of movement when it comes into contact with the electric shock device 150, preventing it from entering the protected area. This also prevents the protected parts from being blocked by the subject or affected by the mucus secreted by the subject, giving the self-propelled working device 100 better avoidance and self-protection functions, and improving the reliability of the self-propelled working device 100.
[0077] Optionally, when the subject to be avoided climbs along path 2 (the subject to be avoided climbs onto the periphery of the self-propelled working device 100 near the top via rocks, steps, or walls near the self-propelled working device 100), along path 3 (the subject to be avoided climbs onto the periphery of the self-propelled working device 100 near the top via the rear front rotating wheel 211 or rear rotating wheel 221), or along path 4 (the subject to be avoided climbs onto the periphery of the self-propelled working device 100 near the top via the first connecting structure 212 or the second connecting structure 222), it may directly cross the electric shock device 150 provided in the first optional embodiment. Based on this, this application also provides the following layout position of the electric shock device 150.
[0078] In a second optional embodiment, the electric shock device 150 is positioned around the side of the main body 110 and above the aforementioned first connecting structure 212 and second connecting structure 222. When the subject to be avoided climbs along the first connecting structure 212 or the second connecting structure 222 (path 4) to the periphery of the self-propelled working device 100, it will encounter the electric shock device 150. The electric shock device 150 provides electrical stimulation by releasing a small current or by using physical stimulation such as setting spikes to block the subject from continuing to move forward. This causes the subject to be avoided to change its direction of movement when it comes into contact with the electric shock device 150, preventing the subject from entering the protected area. This also prevents the protected component from being blocked by the subject or affected by the mucus secreted by the subject, giving the self-propelled working device 100 better avoidance and self-protection functions, and improving the reliability of the self-propelled working device 100.
[0079] Optionally, the electric shock device 150 is positioned on the side of the main body 110 and above the aforementioned front rotating wheel 211 and rear rotating wheel 221. When the object to be avoided climbs along the rear rotating wheel 221 (path 3) to the circumference of the nearby self-propelled working device 100, it will encounter the electric shock device 150. The electric shock device 150 provides electrical stimulation by releasing a small current or by using physical stimulation such as setting spikes to block the object to be avoided from continuing to move forward. This causes the object to be avoided to change its direction of movement when it comes into contact with the electric shock device 150, preventing it from entering the protected area. This also prevents the protected parts from being blocked by the object to be avoided or affected by the mucus secreted by the object to be avoided, thus giving the self-propelled working device 100 better avoidance and self-protection functions and improving the reliability of the self-propelled working device 100.
[0080] Since the electric shock device 150 in this embodiment is arranged around the periphery of the main body 110 of the device, when the subject to be avoided climbs along path 2 (the subject to be avoided passes through rocks, steps or walls near the self-propelled working device 100) to the periphery of the self-propelled working device 100, it will encounter the electric shock device 150. The electric shock device 150 provides electrical stimulation by releasing a small current or by setting up physical stimulation such as spikes to block the subject to be avoided from continuing to move forward. This causes the subject to be avoided to change its direction of movement when it comes into contact with the electric shock device 150, preventing the subject to be avoided from entering the protected area. This also prevents the protected parts from being blocked by the subject to be avoided or affected by the mucus secreted by the subject to be avoided, so that the self-propelled working device 100 has a better avoidance function and self-protection function, and improves the reliability of the self-propelled working device 100.
[0081] For further options, please refer to [link / reference]. Figure 7The electric shock device 150 can be positioned around the periphery of the main body 110 and near the top. Thus, the electric shock device 150 is positioned relatively high, and the protective area formed by the electric shock device 150 is close to the top of the main body 110 (i.e., the top of the self-propelled working device 100). When the object to be avoided climbs along path 2 (by passing rocks, steps, or walls near the self-propelled working device 100) to the periphery of the self-propelled working device 100, even if the rocks, steps, or walls are high, the object will not enter the protective area formed by the electric shock device 150.
[0082] Optionally, the electric shock device 150 may also be disposed around the top of the device body 110, and the top of the device body 110 is provided with a component to be protected. By disposing of the electric shock device 150 around the top of the device body 110, the component to be protected on the top can be protected.
[0083] Optionally, the electric shock device 150 may also be disposed around the top and sides of the device body 110. This embodiment provides double protection for the top component by providing one electric shock device 150 around the side of the device body 110 and another electric shock device 150 around the top of the device body 110. This effectively protects snails that climb onto the device body 110 via the aforementioned paths 1, 2, 3, and 4.
[0084] In some embodiments, the at least one component to be protected includes a sensor module 180, and the electric shock device 150 is disposed around the sensor module 180.
[0085] Optionally, the sensor module 180 includes at least one of a visual sensor, an ultrasonic radar, etc.
[0086] In this embodiment, the at least one component to be protected includes a sensor module 180. The sensor module 180 is disposed on the surface of the device body 110 and can be used to obtain information about the environment in which the device body 110 is located, such as location information, so as to realize the positioning and obstacle avoidance of the self-propelled working device 100, and assist the working device 130 in performing preset tasks, thereby improving the working efficiency and working accuracy of the self-propelled working device 100. In this embodiment, the electric shock device 150 is arranged around the sensor module 180. When the subject to be avoided passes through the electric shock device 150 and moves towards the sensor module 180, the subject to be avoided climbs onto the conductive layer and forms a parallel circuit with the conductive layer. The conductive layer can apply electric stimulation to the subject to be avoided, thereby effectively avoiding the subject. This makes the subject to be avoided feel uncomfortable and move away from the sensor module 180, so as to avoid the subject to be avoided from blocking the sensor module 180 and affecting the working accuracy of the sensor module 180. It can also avoid the secretions generated by the subject to be avoided from corroding or damaging the sensor module 180. Thus, the self-propelled working device 100 has better avoidance and self-protection functions, and improves the reliability of the self-propelled working device 100.
[0087] In some embodiments, the sensor module 180 is located at the top of the device body 110 and / or at the tail of the device body 110.
[0088] In some embodiments, the sensor module 180 is located at the top of the device body 110; in other embodiments, the sensor is located at the tail of the device body 110; in still other embodiments, a portion of the sensor module 180 is located at the top of the device body 110, and another portion of the sensor module 180 is located at the tail of the device body 110. When the sensor module 180 is located at the top and / or tail of the device body 110, it facilitates the device body 110 in obtaining position information, thereby enabling the self-propelled working device 100 to locate and avoid obstacles, thus giving the self-propelled working device 100 better obstacle avoidance and self-protection functions, and improving the reliability of the self-propelled working device 100.
[0089] In some embodiments, the at least one component to be protected includes a charging assembly 190, and the electric shock device 150 is disposed around the periphery of the charging assembly 190.
[0090] Optionally, the charging assembly 190 includes at least one charging electrode.
[0091] In this embodiment, the charging component 190 is at least partially disposed on the surface of the device body 110 for charging of the self-propelled working device 100 after it moves to the charging pile. This facilitates the electrical connection between the device body 110 and the outside. In this embodiment, the electric shock device 150 is disposed around the charging component 190. When the subject to be avoided passes through the electric shock device 150 and moves toward the charging component 190, the subject to be avoided contacts the conductive layer and forms a parallel circuit with the conductive layer. The conductive layer can apply electrical stimulation to the subject to be avoided, achieving effective avoidance of the subject. This causes the subject to feel discomfort and move toward the direction away from the sensor module 180, thus preventing the subject to be avoided from blocking the charging component 190 and affecting the electrical connection between the self-propelled working device 100 and the outside. It also prevents the secretions generated by the subject to be avoided from corroding or damaging the charging component 190, thereby giving the self-propelled working device 100 better avoidance and self-protection functions and improving the reliability of the self-propelled working device 100.
[0092] In some embodiments, the charging assembly 190 is disposed at the tail and / or side of the device body 110.
[0093] In some embodiments, the charging component 190 is located at the rear of the device body 110; in other embodiments, the charging component 190 is located on the side of the device body 110; in still other embodiments, a portion of the charging component 190 is located at the rear of the device body 110, and another portion of the charging component 190 is located on the side of the device body 110. When the charging component 190 is located at the rear and / or side of the device body 110, it facilitates electrical connection between the self-propelled working device 100 and the outside, and avoids the walking device 120 of the device body 110, thereby simplifying the wiring of the self-propelled working device 100.
[0094] In some embodiments, the conductive layer is arranged in a ring and located around the periphery of the component to be protected, thereby forming a protective area to prevent the subject to be repelled from entering.
[0095] Understandably, the conductive layer has a closed ring structure.
[0096] In this embodiment, the conductive layer is arranged in a ring shape to form a protective area. The conductive layer surrounds the periphery of the component to be protected. When the object to be avoided moves toward the conductive layer, it contacts the conductive layer and forms a parallel circuit with it. The object to be avoided experiences discomfort after being electrically stimulated, thereby adjusting its direction of travel and moving away from the component to be protected. The conductive layer can prevent the object to be avoided from entering the protective area, thus protecting the component and preventing damage to it.
[0097] Optionally, in some embodiments, the self-propelled working device 100 further includes a power supply electrode line (not shown) and an equipment power supply (not shown). One end of the power supply electrode line is electrically connected to the equipment power supply, and the other end is electrically connected to at least one of the device to be protected, the walking device 120, and the working device 130. The power supply electrode line is disposed inside the device body 110, and the equipment power supply is disposed in the device body 110. When the equipment power supply is turned on and at least one of the device to be protected, the walking device 120, and the working device 130 is working, the power supply electrode line is loaded with working current.
[0098] Understandably, the device to be protected, the walking device 120, and the working device 130 can be powered by the equipment power supply or by the module power supply.
[0099] In this embodiment, the opposite ends of the power supply electrode line are respectively connected to the equipment power supply and at least one of the protected device, the walking device 120, and the working device 130, so that the equipment power supply can supply power to at least one of the protected device, the walking device 120, and the working device 130. When the equipment power supply is turned on and at least one of the protected device, the walking device 120, and the working device 130 is working, the power supply electrode line carries a working current.
[0100] Furthermore, the conductive layer is a ring-shaped electrode line, and the orthographic projection of the conductive layer on the device body 110 at least partially coincides with the orthographic projection of the power supply electrode line on the device body 110. A coupling capacitance is formed between the conductive layer and the power supply electrode line so that the conductive layer generates a repelling current.
[0101] Understandably, the conductive layer can be powered by the module power supply, or by the coupling capacitor formed between the conductive layer and the power supply electrode line.
[0102] In this embodiment, the conductive layer is a ring-shaped electrode wire, that is, the conductive layer is a closed ring-shaped electrode wire. When the conductive layer is disposed on the surface of the device body 110, if the power supply electrode wire is disposed close to the conductive layer, and the orthographic projection of the conductive layer on the device body 110 at least partially coincides with the orthographic projection of the power supply electrode wire on the device body 110, then a coupling capacitance is formed between the power supply electrode wire and the conductive layer. When at least one of the device to be protected, the walking device 120, and the working device 130 is working, the power supply electrode wire is loaded with a working current, which causes the conductive layer to form a coupling current, that is, a repulsion current. When the device to be repelled contacts the conductive layer, the coupling current passes through the device to be repelled and applies electrical stimulation to the device to be repelled, thereby causing the device to be repelled to move away from the device to be protected, so as to achieve protection of the device to be protected.
[0103] Please see Figure 1 and Figure 8 In some embodiments, the electric shock device 150 is detachably connected to the device body 110.
[0104] In this embodiment, the electric shock device 150 is detachably connected to the main body 110 of the equipment, allowing users or maintenance personnel to easily remove the electric shock device 150 for cleaning, inspection or replacement, avoiding the impact of damage to the electric shock device 150 on the overall use of the self-propelled working equipment 100, improving the maintainability of the self-propelled working equipment 100, extending the service life of the self-propelled working equipment 100, and enhancing the reliability of the self-propelled working equipment 100.
[0105] Optionally, the electric shock device 150 and the device body 110 can be detachably connected by at least one of magnetic connection, adhesive connection, and snap-fit connection.
[0106] In some embodiments, the surface of the device body 110 is provided with a receiving groove 111, and the electric shock device 150 is at least partially embedded in the receiving groove 111.
[0107] In this embodiment, the receiving groove 111 provides a precise installation position for the electric shock device 150, ensuring that it is not easily displaced or loosened after fitting, thus ensuring a more stable connection between the electric shock device 150 and the equipment body 110 and reducing the risk of displacement due to vibration or external force. The electric shock device 150 is partially or completely embedded in the receiving groove 111, making it flush with the surface of the equipment body 110 or forming a smooth transition, improving the integrity and aesthetics of the self-propelled work equipment 100's appearance and avoiding abrupt protrusions or gaps. The sidewalls of the receiving groove 111 can limit and protect the electric shock device 150, reducing the direct impact of external impacts or foreign objects on the edges of the electric shock device 150, reducing the possibility of deformation or damage, thereby improving the durability of the electric shock device 150. By partially embedding the electric shock device 150 in the receiving groove 111, the overall thickness or volume of the self-propelled work equipment 100 can be reduced, achieving a more compact structural design.
[0108] In this embodiment, the electric shock device 150 can be at least partially embedded in the receiving groove 111 to achieve the snap-fitting of the electric shock device 150 onto the surface of the device body 110, thereby improving the structural stability of the electric shock device 150 on the surface of the device body 110, simplifying the process of installing the electric shock device 150 onto the surface of the device body 110, improving the efficiency of installing the electric shock device 150 onto the surface of the device body 110, and thus improving the performance of the electric shock device 150.
[0109] Please see Figure 9 In some embodiments, the electric shock device 150 is provided with a first magnetic 210, and the device body 110 is provided with a second magnetic 220. The electric shock device 150 and the device body 110 are fixed by the first magnetic 210 and the second magnetic 220.
[0110] Optionally, the electric shock device 150 further includes a mounting portion (not shown in the figure), on the side of the mounting portion facing away from the device body 110, the conductive layer is provided, and on the side of the mounting portion facing the device body 110, the first magnetic suction member 210 is provided.
[0111] In this embodiment, the electric shock device 150 is provided with a first magnetic attractor 210, and the device body 110 is provided with a second magnetic attractor 220. When the first magnetic attractor 210 and the second magnetic attractor 220 are magnetically attracted to each other, the electric shock device 150 is fixed to the surface of the device body 110. The magnetic attraction between the first magnetic attractor 210 and the second magnetic attractor 220 simplifies the process of mounting the electric shock device 150 to the surface of the device body 110, improving the efficiency of installation. Furthermore, if the surface of the device body 110 has a receiving groove 111, the second magnetic attractor 220 can also be disposed within the receiving groove 111. When the first magnetic attractor 210 and the second magnetic attractor 220 are magnetically attracted, the stability of the electric shock device 150 mounted on the device body 110 can be further improved.
[0112] Please see Figure 10 In some embodiments, an adhesive component 230 is provided on the back of the electric shock device 150, and the electric shock device 150 is attached to the surface of the device body 110 through the adhesive component 230.
[0113] Optionally, the electric shock device 150 further includes a mounting portion, on the side of the mounting portion facing away from the device body 110, the conductive layer is provided, and on the side of the mounting portion facing the device body 110, the adhesive component 230 is provided.
[0114] Understandably, the back side of the electric shock device 150 refers to the surface of the electric shock device 150 that is away from the conductive layer.
[0115] In this embodiment, an adhesive component 230 is provided on the back of the electric shock device 150. When the electric shock device 150 is disposed on the surface of the device body 110, the electric shock device 150 is attached to the surface of the device body 110 through the adhesive component 230. On the one hand, this can improve the efficiency of installing the electric shock device 150 on the surface of the device body 110, and on the other hand, it can improve the structural stability of the electric shock device 150 disposed on the surface of the device body 110.
[0116] Alternatively, in other embodiments, the adhesive 230 may also be disposed on the surface of the device body 110.
[0117] In this application, the terms "embodiment" and "implementation" mean that a specific feature, structure, or characteristic described in connection with an embodiment can be included in at least one embodiment of this application. The appearance of these phrases in various locations throughout the specification does not necessarily refer to the same embodiment, nor are they independent or alternative embodiments mutually exclusive with other embodiments. Those skilled in the art will understand, explicitly and implicitly, that the embodiments described in this application can be combined with other embodiments. Furthermore, it should be understood that the features, structures, or characteristics described in the various embodiments of this application can be arbitrarily combined to form another embodiment that does not depart from the spirit and scope of the technical solution of this application, provided there is no contradiction between them.
[0118] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application and are not intended to limit it. Although this application has been described in detail with reference to the above preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions to the technical solutions of this application should not depart from the spirit and scope of the technical solutions of this application.
Claims
1. A self-traveling work apparatus characterized by comprising: The self-propelled working device includes: The equipment body has at least one component to be protected on its surface. A walking device is located at the bottom of the main body of the equipment and is used to drive the self-propelled working equipment to move. A working device, which is mounted on the main body of the equipment, is used to perform a preset task; An electric shock device is disposed around at least a portion of the periphery of the component to be protected. The electric shock device includes a conductive layer, the two ends of which are electrically connected to the positive and negative terminals of a power source, respectively, for applying electrical stimulation to the component to be protected when it comes into contact with the conductive layer.
2. The self-traveling work apparatus according to claim 1, characterized by, The self-propelled working device also includes a humidity sensor and a controller. The humidity sensor is installed on the main body of the device and is used to detect humidity information. The controller is electrically connected to the humidity sensor and the electric shock device respectively, and is used to receive humidity information and control the opening and closing of the electric shock device.
3. The self-walking work apparatus according to claim 1, characterized by, The electric shock device is disposed around the top and / or side of the main body of the device.
4. The self-walking work apparatus according to claim 1, characterized by, The at least one component to be protected includes a sensor module, and the electric shock device is disposed around the sensor module.
5. The self-walking work apparatus according to claim 4, characterized by The sensor module is located at the top of the device body and / or the tail of the device body.
6. The self-traveling work apparatus according to claim 1, characterized by, The at least one component to be protected includes a charging assembly, and the electric shock device is disposed around the periphery of the charging assembly.
7. The self-walking work apparatus according to claim 6, characterized by The charging component is located at the rear and / or side of the main body of the device.
8. The self-traveling work apparatus according to any one of claims 1 to 7, characterized by, The conductive layer is arranged in a ring and located around the periphery of the component to be protected, so as to form a protective area to prevent the subject to be driven away from from entering.
9. The self-traveling work apparatus according to any one of claims 1 to 7, characterized by, The electric shock device is detachably connected to the main body of the equipment.
10. The self-traveling work apparatus according to any one of claims 1 to 7, characterized by, The surface of the main body of the device is configured with a receiving groove, and the electric shock device is at least partially embedded in the receiving groove.